CN110346755A - A kind of signal amplitude detection device and method and its arrival time modification method - Google Patents
A kind of signal amplitude detection device and method and its arrival time modification method Download PDFInfo
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- CN110346755A CN110346755A CN201910620389.2A CN201910620389A CN110346755A CN 110346755 A CN110346755 A CN 110346755A CN 201910620389 A CN201910620389 A CN 201910620389A CN 110346755 A CN110346755 A CN 110346755A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0205—Details
- G01S5/021—Calibration, monitoring or correction
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/08—Position of single direction-finder fixed by determining direction of a plurality of spaced sources of known location
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention discloses a kind of pulse signal amplitude detection devices, comprising: pulse signal transmitter emits pulse signal；Pulse signal receiver receives the pulse signal, and pulse signal receiver includes radio frequency attenuator, carries out pulse amplitude of the decaying of differential declines amplitude after decaying to the amplitude of the pulse signal received and is less than preset magnitude threshold；Its amplitude information that the pulse signal that the pulse signal receiver receives is obtained according to the attenuation amplitude and preset magnitude threshold of radio frequency attenuator.The present invention is by being arranged radio frequency attenuator in UWB pulse signal receiver, the amplitude information of the pulse signal received can be measured, to obtain arrival time correction value, the signal amplitude received as transmitting antenna UWB pulse receiver caused by different directions gain difference is avoided to have differences, the problem of arrival time of UWB pulse positioning signal can not accurately be detected caused by and then, further improve positioning accuracy.
Description
Technical field
The present invention relates to wireless communication fields, and in particular to signal amplitude detection and arrival time in positioning system are repaired
Just.
Background technique
In the prior art, it is realized by self-built positioning system in a particular area to the positioning and monitoring of specified target.UWB
(Ultra Wideband) is a kind of no-load communication techniques, transmits number using the non-sinusoidal waveform burst pulse of nanosecond to picosecond
According to.UWB has pulse width narrow, and strong anti-interference performance, transmission rate are high, very bandwidth is wide, consumption electric energy is small, it is small etc. to send power
Many advantages, be widely used in indoor communications, high-speed wireless LAN, home network, wireless phone, safety detection, position finding,
The fields such as radar.The region that sky satellite can not cover can be made up using UWB signal as the positioning system of positioning signal, it is convenient
Arrangement, realizes the displacement monitoring of small space.
In the positioning system using UWB pulse as positioning signal common location algorithm have arrival time TOA position and
Reaching time-difference TDOA positioning, above-mentioned algorithm need the detection UWB pulse of positioning signal reception end to reach itself in implementation process
At the time of value.It in existing positioning system, is limited by hardware condition, the omnidirectional antenna of UWB pulse transmitter transmitting UWB pulse exists
The signal gain of all directions cannot be guaranteed it is completely the same, which results in UWB pulse transmitter to two at a distance of the UWB arteries and veins
When rushing the UWB pulse receiver transmitting UWB pulse that transmitter distance is identical but position is different, signal reaches two UWB pulses and connects
The amplitude of receipts machine is different.And when described two UWB pulse receivers detect reception signal using identical signalc threshold,
Different time of arrival (toa) information can be obtained, resulting in measurement arrival time, there are errors, and then influence positioning accuracy.
Therefore, how to avoid as caused by UWB pulse transmitter antenna gain difference in the transmitting UWB pulse around
The signal amplitude that UWB pulse receiver receives has differences, and then the caused UWB pulse positioning signal of can not accurately detecting
The problem of arrival time, becomes this field technical problem urgently to be resolved.
Summary of the invention
A kind of pulse signal amplitude detection device is disclosed according to one aspect of the present invention, comprising: pulse signal transmitting
Machine emits pulse signal；And pulse signal receiver, the pulse signal is received, pulse signal receiver includes that radio frequency declines
Subtract device, it is small to carry out pulse amplitude of the decaying of differential declines amplitude after decaying to the amplitude of the pulse signal received
In preset magnitude threshold；Wherein, pulse signal amplitude detection device is according to the attenuation amplitude and preset width of radio frequency attenuator
Value thresholding obtains the amplitude information for the pulse signal that the pulse signal receiver receives.
A kind of utilization pulse signal amplitude detection device amendment arrival time is disclosed according to another aspect of the invention
Method, comprising: it is corresponding to record sampled point equal with preset magnitude threshold amplitude on the pulse signal envelope received
Moment, the measured value as pulse signal arrival time；Received pulse is obtained using the pulse signal amplitude detection device
The amplitude information of signal；According to the arrival of the amplitude of the pulse signal received and the relationship amendment record of preset magnitude threshold
Moment measured value, to obtain arrival time correction value.
Another aspect according to the present invention discloses a kind of pulse signal amplitude detection method, comprising: transmitting pulse letter
Number；The pulse signal is received, and carries out the decaying of differential declines amplitude to the amplitude of the pulse signal received, until decaying
Pulse amplitude afterwards is less than preset magnitude threshold；And preset amplitude is less than according to the pulse amplitude after decaying
Attenuation amplitude and preset magnitude threshold when thresholding obtain the amplitude information of the pulse signal received.
Pulse signal amplitude detection and arrival time modification method disclosed by the invention, by UWB pulsed signal
Radio frequency attenuator is set in machine, the amplitude information of the pulse signal received can be measured, by the amplitude of pulse signal and pre-
If magnitude threshold relationship amendment record arrival time measured value, to obtain arrival time correction value.The present invention is substantially
The selection criteria for having unified reception signal arrival time sampled point avoids emitting UWB arteries and veins around due to UWB pulse transmitter
The signal amplitude that UWB pulse receiver caused by antenna gain is different when rushing receives has differences, so it is caused can not be quasi-
Really the problem of the arrival time of detection UWB pulse positioning signal, positioning accuracy and stability are further improved.
Detailed description of the invention
Fig. 1 provides a kind of signal transmitting and receiving schematic diagram of the positioning system 100 of embodiment according to the present invention；
Fig. 2 provides a kind of schematic diagram of the pulse signal envelope of positioning system shown in FIG. 1 100；
Fig. 3 provides a kind of schematic diagram of the pulse signal amplitude detection of embodiment according to the present invention；
Fig. 4 provides a kind of schematic diagram that pulse signal amplitude detection is realized using dichotomy of embodiment according to the present invention；
Fig. 5 provides a kind of another kind of embodiment showing using dichotomy realization pulse signal amplitude detection according to the present invention
It is intended to；
Fig. 6 provides a kind of pulse signal arrival time modified schematic diagram of embodiment according to the present invention；
Fig. 7 provides the pulse signal amplitude detection and arrival time modification method 700 of a kind of embodiment according to the present invention
Flow chart.
Specific embodiment
Specific embodiments of the present invention are described more fully below, it should be noted that the embodiments described herein is served only for illustrating
Illustrate, is not intended to restrict the invention.In the following description, in order to provide a thorough understanding of the present invention, a large amount of spies are elaborated
Determine details.It will be apparent, however, to one skilled in the art that: this hair need not be carried out using these specific details
It is bright.In other instances, in order to avoid obscuring the present invention, well known circuit, material or method are not specifically described.
Throughout the specification, meaning is referred to " one embodiment ", " embodiment ", " example " or " example "
: a particular feature, structure, or characteristic described in conjunction with this embodiment or example is comprised at least one embodiment of the invention.
Therefore, the phrase " in one embodiment ", " in embodiment ", " example " occurred in each place of the whole instruction
Or " example " is not necessarily all referring to the same embodiment or example.Furthermore, it is possible in any suitable combination and or sub-portfolio will be specific
Feature, structure or characteristic combine in one or more embodiment or examples.In addition, those of ordinary skill in the art should manage
Solution, diagram is provided to the purpose of explanation provided herein, and diagram is not necessarily drawn to scale.It should be appreciated that working as
Claim " element " " being connected to " or when ' attach ' to another element, it, which can be, is directly connected to or is connected to another element or can be with
There are intermediary elements.On the contrary, cental element is not present when claiming element " being directly connected to " or " being directly connected to " another element
Part.Identical appended drawing reference indicates identical element.Term "and/or" used herein includes that one or more correlations are listed
Any and all combinations of project.
Fig. 1 provides a kind of signal transmitting and receiving schematic diagram of the positioning system 100 of embodiment according to the present invention.The positioning system
100 illustratively include locating base station BS1, BS2 and BS3 and device MS to be positioned, wherein locating base station BS1, BS2 and BS3
With known location information.Device MS to be positioned emits positioning letter to locating base station BS1, BS2 and BS3 in one embodiment
Number, locating base station BS1, BS2 and BS3 receive and record the temporal information that the positioning signal reaches itself, 100 benefit of positioning system
With the launch time information of positioning signal and/or the location information of arrival time information and locating base station BS1, BS2 and BS3,
The location information of device MS to be positioned is resolved by TOA or TDOA location algorithm.In one embodiment, the positioning signal is
UWB pulse signal, then the device MS to be positioned includes UWB pulse signal transmitter, and locating base station BS1, BS2 and BS3 include
UWB pulse signal receiver.
As shown in Figure 1, being limited by antenna hardware condition, the device MS to be positioned comprising UWB pulse transmitter emits UWB
The signal gain of the omnidirectional antenna of pulse in all directions cannot be guaranteed completely the same, dotted line expression UWB pulse transmitter in Fig. 1
Gain pattern.Result in for these reasons UWB pulse transmitter to it is multiple at a distance of the UWB pulse transmitters away from
When emitting UWB pulse from identical but different position UWB pulse receiver, signal reaches the amplitude of multiple UWB pulse receivers
It is different.As shown in Figure 1, in positioning system 100, a certain moment device MS to be positioned move to locating base station BS1, BS2 and
The position that distance between BS3 is equal, then space attenuation when device MS to be positioned emits same UWB pulse signal are identical.But
Since locating base station BS1, BS2 and BS3 are different relative to the direction of device MS to be positioned, device MS to be positioned is to locating base station
The UWB pulse signal of BS1, BS2 and BS3 transmitting has different amplitudes, therefore results in locating base station BS1, BS2 and BS3 and connect
The UWB pulse signal received has different amplitudes.In the embodiment shown in fig. 1, due to towards locating base station BS1 and BS2
The antenna gain of UWB pulse transmitter is larger, and the antenna gain of the UWB pulse transmitter towards locating base station BS3 is smaller, leads
The amplitude for the UWB pulse signal for having caused locating base station BS3 to receive is less than the UWB pulse that locating base station BS1 and BS2 are received
The amplitude of signal.
Fig. 2 provides a kind of schematic diagram of the pulse signal envelope of positioning system shown in FIG. 1 100.As shown in Fig. 2, undetermined
Position device MS emits positioning signal to locating base station BS1, BS2 and BS3, due in embodiment illustrated in fig. 1, locating base station BS1,
BS2 and BS3 is equidistant with device MS's to be positioned, therefore, it is desirable that the positioning letter of locating base station BS1, BS2 and BS3 record
The temporal information for number reaching itself also should be identical.However, due to the device MS to be positioned transmitting comprising UWB pulse transmitter
The signal gain of the omnidirectional antenna of UWB pulse in all directions is inconsistent, results in locating base station BS1, BS2 and BS3 and receives
UWB pulse signal have different amplitudes.As shown in Fig. 2, the amplitude for the UWB pulse signal that locating base station BS3 is received is wanted
Less than the amplitude of locating base station BS1 and BS2 the UWB pulse signal received.Each locating base station record location signal reaches itself
When temporal information, positioning system 100 is that each locating base station is provided with unified signal amplitude thresholding vth, when locating base station detects
When being greater than or equal to the signal amplitude thresholding vth to the pulse signal received, it is considered as and detects positioning signal, and record arteries and veins
At the time of rushing corresponding with the equal sampled point of signal amplitude thresholding vth amplitude on signal envelope, the moment is reached as positioning signal
Measured value.That is locating base station BS1, BS2 and BS3 respectively obtains positioning signal arrival according to unified signal amplitude thresholding vth
Itself at the time of measured value tm1, tm2 and tm3.Since the amplitude of the locating base station BS3 UWB pulse signal received is less than
The amplitude for the UWB pulse signal that locating base station BS1 and BS2 are received, and the signal amplitude thresholding vth of each locating base station is unified
, the measured value tm3 that this positioning signal that locating base station BS3 is obtained reaches the moment is greater than locating base station BS1 and BS2 and obtains
The positioning signal arrived reaches the measured value tm1 and tm2 at moment, and then causes in the arrival time value solution using the positioning signal
There are errors when calculating the location information of device MS to be positioned, influence positioning accuracy.The present invention is provided with a kind of positioning signal amplitude
Detection and arrival time modification method, with compensation due to the inconsistent bring record of UWB pulse transmitter all directions antenna gain
The deviation of positioning signal arrival time.
Fig. 3 provides a kind of schematic diagram of the pulse signal amplitude detection of embodiment according to the present invention.Pass through in the present invention
Radio frequency attenuator is set in UWB pulse receiver, amplitude fading is carried out to the pulse signal that receives, by for rf attenuation
Different attenuation amplitudes is arranged in device, so that the amplitude of the pulse signal after decaying is less than preset magnitude threshold vth, that is, after decaying
Pulse signal when can not be detected by UWB pulse receiver, according to the attenuation amplitude of radio frequency attenuator at this time and preset width
Value thresholding vth obtains the amplitude range for the pulse signal that UWB pulse receiver receives.In order to enable UWB pulse receiver
The decaying of differential declines amplitude is carried out to the pulse signal received, in one embodiment, the UWB pulse receiver is more
A radio frequency attenuator is arranged in channel receiver, i.e. UWB pulse receiver in each receiving channel, and penetrates to be the multiple
Different attenuation amplitudes is arranged in frequency attenuator.As another embodiment, as shown in figure 3, continuously being emitted by UWB pulse transmitter
The UWB pulse signal of the amplitudes such as multiple is successively carried out by pulse signal of the UWB pulse receiver to the amplitudes such as multiple received
The decaying of different amplitudes, to reach technical effect identical with the UWB pulse receiver of multichannel.In the embodiment shown in fig. 3,
Include UWB pulse transmitter in device MS to be positioned, includes UWB pulse receiver in locating base station, i.e., device MS hair to be positioned
UWB pulse signal is sent, locating base station receives UWB pulse signal.For convenience of explanation, Fig. 3 receives pulse letter with locating base station BS1
For number, pulse signal amplitude detection method is illustrated.It again in one embodiment, include UWB pulse in locating base station
Transmitter includes UWB pulse receiver in device MS to be positioned, i.e. locating base station sends UWB pulse signal, device MS to be positioned
Receive UWB pulse signal.
As shown in figure 3, device MS to be positioned emits the UWB pulse signal of the amplitudes such as multiple to locating base station BS1.Position base
The BS1 that stands successively carries out the decaying of different amplitudes to the pulse signal of the amplitudes such as multiple received, and by after decaying signal with
Preset magnitude threshold vth is compared.Different attenuation amplitudes can be arranged for radio frequency attenuator in locating base station BS1.In Fig. 3
In illustrated embodiment, locating base station BS1 is to first pulse signal received without decaying, only recording pulse signal envelope
At the time of upper corresponding with the equal sampled point of signal amplitude thresholding vth amplitude, the measured value at moment is reached as positioning signal
tm1.Radio frequency attenuator is by the amplitude fading Δ v1 of receive second pulse signal, by second pulse signal after decaying
It is compared with preset magnitude threshold vth.As shown in figure 3, if second pulse amplitude after decaying is higher than preset
Magnitude threshold vth then further decays to next third pulse signal, by the width of the third pulse signal received
Degree decaying Δ v1+ Δ v2.As shown in figure 3, the third pulse amplitude after decaying is still higher than preset magnitude threshold vth,
Then further decay to next 4th pulse signal, by the amplitude fading Δ v1+ of the receive the 4th pulse signal
Δv2+Δv3.As shown in figure 3, the 4th pulse amplitude after decaying is still higher than preset magnitude threshold vth, then dock
The 5th pulse signal to get off is further decayed, by the amplitude fading Δ v1+ Δ v2+ Δ of the receive the 5th pulse signal
v3+Δv4.As shown in figure 3, the signal amplitude after the 5th pulse signal decaying is lower than preset magnitude threshold vth, then illustrate
The amplitude of the pulse signal received is between lower limit vth+ Δ v1+ Δ v2+ Δ v3 and upper limit vth+ Δ v1+ Δ v2+ Δ v3+ Δ v4
Between.In one embodiment, the upper and lower bound of pulse amplitude can be averaged as the pulse signal received
Amplitude, i.e., by vth+ ΔAmplitude as the pulse signal received.In one embodiment,
Each attenuation amplitude can be increased with constant gradient, i.e. Δ v1, Δ v2, Δ v3, Δ v4 are equal.Again in one embodiment, base is positioned
The BS1 that stands can carry out nonlinear attenuation, i.e. Δ v1, Δ v2, Δ v3, Δ v4 take different value.
In order to rapidly and accurately obtain the amplitude of the pulse signal received, the present invention also provides a kind of decaying of Real-time Feedback
The comparison result of pulse signal and preset magnitude threshold vth afterwards, and according to the decaying of comparison result setting radio frequency attenuator
Amplitude.
In one embodiment, when the upper and lower bound gap of the pulse amplitude measured is larger, in order to improve arteries and veins
The measurement accuracy of amplitude is rushed, then needs further to refine the attenuation amplitude of radio frequency attenuator.In the embodiment shown in fig. 3, it receives
The 4th pulse signal arrived is greater than preset magnitude threshold vth, the 5th received after the decaying by radio frequency attenuator
A pulse signal after the decaying by radio frequency attenuator be less than preset magnitude threshold vth, by above-mentioned comparison result be used for into
The attenuation amplitude of step refining radio frequency attenuator, to continue to decay to next pulse signal, wherein penetrating after refinement
The attenuation amplitude of frequency attenuator is between the attenuation amplitude decayed to the 4th pulse signal and the 5th pulse signal.
By the amplitude fading Δ v1+ Δ v2+ Δ v3+ Δ v41 of the receive the 6th pulse signal, wherein Δ v41 is less than Δ v4, and
Signal after decaying is compared with preset magnitude threshold vth, if the 6th pulse amplitude after decaying is still higher than
Preset magnitude threshold vth then successively further decays to next pulse signal, and continues to successively increase attenuation amplitude,
Signal amplitude after decaying is lower than preset magnitude threshold vth.In the embodiment shown in fig. 3, the 7th pulse letter is measured
Number decaying after signal amplitude be less than preset magnitude threshold vth, then the amplitude of the pulse signal measured at this time is between vth+ Δ
Between v1+ Δ v2+ Δ v3+ Δ v41+ Δ v42 and vth+ Δ v1+ Δ v2+ Δ v3+ Δ v41+ Δ v42+ Δ v43.Implement at one
In example, the amplitude as the pulse signal received can be averaged to the upper and lower bound of pulse amplitude.Again in a reality
Apply in example, can the attenuation amplitude to radio frequency attenuator further refine, until the upper and lower bound gap of pulse amplitude is less than
Preset threshold value.By the above method, the upper and lower bound gap of pulse amplitude can be reduced, to improve the survey of pulse amplitude
Accuracy of measurement.
In one embodiment, radio frequency attenuator decays to pulse signal by multiple.Again in one embodiment, it penetrates
Frequency attenuator decays to pulse signal as unit of dB.
Fig. 4 provides a kind of schematic diagram that pulse signal amplitude detection is realized using dichotomy of embodiment according to the present invention.
Locating base station BS1 successively carries out the decaying of different multiples to the pulse signal of the amplitudes such as multiple received, and will be after decaying
Signal is compared with preset magnitude threshold vth.Locating base station BS1 is that initial attenuation multiple IM is arranged in radio frequency attenuator,
In embodiment illustrated in fig. 4, locating base station BS1 to first received without decaying, only on recording pulse signal envelope with
At the time of the equal sampled point of signal amplitude thresholding vth amplitude corresponds to, the measured value tm1 at moment is reached as positioning signal.It penetrates
Frequency attenuator carries out the decaying of initial attenuation multiple IM to second pulse signal received, by the signal after decaying and presets
Magnitude threshold vth be compared.As shown in figure 4, the signal amplitude after decaying is higher than preset magnitude threshold vth, then utilize
Dichotomy further decays to next pulse signal, and the third pulse signal received is carried out to the decaying of IM/2, right
Pulse signal after decaying is compared with preset magnitude threshold vth, and the signal amplitude after decaying is still higher than preset amplitude
Thresholding vth then further decays to next pulse signal, and the receive the 4th pulse signal is carried out initial attenuation times
The decaying of number IM/4, the pulse signal after decaying is compared with preset magnitude threshold vth, as shown in figure 4, after decaying
Signal amplitude is lower than preset magnitude threshold vth.Then the upper limit of pulse amplitude is the product of vth Yu attenuation multiple IM/2,
The lower limit of pulse amplitude is the product of vth Yu attenuation multiple IM/4.Pulse signal amplitude is detected using dichotomy,
The upper and lower bound of pulse amplitude can more be quickly determined.
In one embodiment, when the pulse amplitude for detect to pulse signal amplitude determination using dichotomy
When the gap of upper and lower bound is excessive, dichotomy can be continued with and carry out amplitude detection, until the upper and lower bound of pulse amplitude
Gap is less than a certain threshold value.
Fig. 5 provides a kind of another kind of embodiment showing using dichotomy realization pulse signal amplitude detection according to the present invention
It is intended to.It distinguishes place with embodiment illustrated in fig. 4 to be, due to preset magnitude threshold vth or the pulse signal received
The difference of amplitude, in the embodiment shown in fig. 5, radio frequency attenuator carry out initial attenuation times to second pulse signal received
The decaying of number IM, the signal amplitude after decaying are higher than preset magnitude threshold vth.The third pulse signal received is carried out
The decaying of initial attenuation multiple IM/2, the signal amplitude after decaying are lower than preset magnitude threshold vth.In one embodiment,
The upper limit of pulse amplitude is the product of vth Yu attenuation multiple IM, and the lower limit of pulse amplitude is vth and attenuation multiple
The product of IM/2.The gap of the upper and lower bound of the pulse amplitude obtained at this time is excessive, can continue with dichotomy and carry out width
Value detection.Further decay to next pulse signal, the receive the 4th pulse signal is subjected to initial attenuation multiple
The decaying of IM × 3/4 is compared the pulse signal after decaying with preset magnitude threshold vth, the signal amplitude after decaying
Higher than preset magnitude threshold vth.Then the upper limit of pulse amplitude is the product of vth Yu attenuation multiple IM, pulse signal width
The lower limit of degree is the product of vth Yu attenuation multiple IM × 3/4.The upper and lower bound gap of the pulse amplitude obtained at this time is smaller,
The estimation of pulse signal amplitude is more acurrate.
Fig. 6 provides a kind of pulse signal arrival time modified schematic diagram of embodiment according to the present invention.By shown in Fig. 3
The method of embodiment, the amplitude for obtaining the UWB pulse signal that locating base station BS1 is received is v1, and according to identical method,
The amplitude for obtaining the UWB pulse signal that locating base station BS2 is received is v2.Decay it in the undocked pulse signal received
Before, at the time of corresponding with the equal sampled point of signal amplitude thresholding vth amplitude on the pulse signal envelope of record, i.e. positioning signal
Measured value at the time of reaching locating base station BS1 and BS2 is respectively tm1 and tm2.From fig. 6 it can be seen that locating base station BS1
Sample before two/amplitude sampled point, and position the sample of base station BS 2 in two/amplitude sampled point it
Afterwards, Samples selecting of the pulse signal which results in waveforms is identical, amplitude is different when selecting sampled point record arrival time
Standard is inconsistent, and then causes arrival time record there are deviation, and then influence positioning accuracy.Therefore, it is necessary to uniform sampling points
Selection criteria, and then to positioning signal reach locating base station BS1 and BS2 at the time of measured value tm1 and tm2 be modified.
In one embodiment, in 100 initial phase of positioning system, due to the UWB of UWB pulse signal transmitter transmitting
The waveform of pulse signal is it is known that positioning system 100 carries out the decaying of different amplitudes to above-mentioned pulse signal, to obtain and store tool
There are multiple pulse signal waveforms of unlike signal amplitude.During locating base station receives positioning signal, pass through pulse signal
Amplitude detection method obtains the amplitude for the positioning signal that locating base station receives, and searches pulse letter corresponding with the amplitude
Number waveform, and judge position of the sampled point equal with signal amplitude thresholding vth amplitude on pulse signal waveform, and according to it
The positional relationship of the uniform sampling point selected with positioning system 100, to the positioning signal of acquisition reach the moment measured value tm1 and
Tm2 is modified, to obtain the correction value tc1 and tc2 that positioning signal reaches the moment.In the embodiment shown in fig. 6, that unifies adopts
Sampling point is two/amplitude point, and in one embodiment, and unified sampled point is peak point or other suitable points.
In the embodiment shown in fig. 6, unified sampled point be two/amplitude point, as shown in figure 4, using with signal amplitude
The position of the equal sampled point of thresholding vth amplitude and two/amplitude point on pulse signal waveform obtains time difference Δ t1
With Δ t2, and using time difference Δ t1 and Δ t2 to positioning signal reach the moment measured value tm1 and tm2 be modified, with
Obtain correction value tc1 and tc2 that positioning signal reaches the moment.
Again in one embodiment, unified sampled point is peak point.
Fig. 7 provides the pulse signal amplitude detection and arrival time modification method 700 of a kind of embodiment according to the present invention
Flow chart.The pulse signal amplitude detection and arrival time modification method 700 include the following steps:
Step 701: recording corresponding with the equal sampled point of signal amplitude threshold amplitude on the pulse signal envelope received
At the time of, the measured value as pulse signal arrival time；
Step 702: decay to the pulse signal received, and by after decaying signal and preset magnitude threshold into
Row compares, if being higher than preset magnitude threshold, repeats step 702, if being lower than magnitude threshold, enters step 703；
Step 703: the amplitude of the pulse signal received is calculated using attenuation amplitude and preset magnitude threshold；
Step 704: according to arriving for the amplitude of the pulse signal received and the relationship amendment record of preset magnitude threshold
Up to moment measured value, to obtain arrival time correction value.
Pulse signal amplitude detection and arrival time modification method disclosed by the invention, by UWB pulsed signal
Radio frequency attenuator is set in machine, the amplitude information of the pulse signal received can be measured, by the amplitude of pulse signal and pre-
If magnitude threshold relationship amendment record arrival time measured value, to obtain arrival time correction value.The present invention is substantially
The selection criteria for having unified reception signal arrival time sampled point avoids emitting UWB arteries and veins around due to UWB pulse transmitter
The signal amplitude that UWB pulse receiver caused by antenna gain is different when rushing receives has differences, so it is caused can not be quasi-
Really the problem of the arrival time of detection UWB pulse positioning signal, positioning accuracy and stability are further improved.
As the above mentioned, although having illustrated and described the preferred embodiment of the present invention, without departing substantially from this hair
In the case where bright spirit and scope, many changes can be carried out.The scope of the present invention is not by the open institute of preferred embodiment as a result,
Limitation.But the present invention should be determined entirely by reference to following claims.
Claims (16)
1. a kind of pulse signal amplitude detection device, comprising:
Pulse signal transmitter emits pulse signal；And
Pulse signal receiver receives the pulse signal, and pulse signal receiver includes radio frequency attenuator, to the arteries and veins received
The amplitude for rushing signal carries out pulse amplitude of the decaying of differential declines amplitude after decaying and is less than preset magnitude threshold；
Wherein, pulse signal amplitude detection device is according to the attenuation amplitude of radio frequency attenuator and the acquisition of preset magnitude threshold
The amplitude information for the pulse signal that pulse signal receiver receives.
2. pulse signal amplitude detection device as described in claim 1, wherein the pulse signal receiver connects for multichannel
Receipts machine, each receiving channel include a radio frequency attenuator, and each radio frequency attenuator has different attenuation amplitudes.
3. pulse signal amplitude detection device as described in claim 1, wherein the pulse signal transmitter continuously emits more
The pulse signal of the amplitudes such as a, the pulse signal receiver include a radio frequency attenuator, to the amplitudes such as multiple received
Pulse signal carry out differential declines amplitude decaying.
4. pulse signal amplitude detection device as described in claim 1, wherein pulse signal receiver will make the arteries and veins after decaying
Rush that signal amplitude is greater than and the sum of the attenuation amplitude of closest default magnitude threshold and preset magnitude threshold are as pulse signal
The upper limit of amplitude, will make that the pulse amplitude after decaying is less than and the radio frequency attenuator of closest preset magnitude threshold declines
The lower limit of the sum of amount of decrease degree and default magnitude threshold as pulse signal amplitude, pulse signal amplitude detection device are believed according to pulse
The upper and lower bound of number amplitude obtains the amplitude information for the pulse signal that the pulse signal receiver receives.
5. pulse signal amplitude detection device as claimed in claim 4, wherein pulse signal receiver is by the pulse signal
The measured value of amplitude of the average value of the lower limit of the upper limit of amplitude and the pulse signal amplitude as the pulse signal received.
6. pulse signal amplitude detection device as claimed in claim 4, wherein pulse signal receiver is after making decaying
Pulse amplitude be greater than and the attenuation amplitude of closest preset magnitude threshold and make decaying after pulse amplitude it is small
In and the attenuation amplitude of closest preset magnitude threshold in the attenuation amplitudes of multiple radio frequency attenuators is set, to obtain at a distance of more
The upper limit of close pulse signal amplitude and the lower limit of pulse signal amplitude.
7. using the method for pulse signal amplitude detection device as claimed in any one of claims 1 to 6 amendment arrival time, packet
It includes:
At the time of recording corresponding with the equal sampled point of preset magnitude threshold amplitude on the pulse signal envelope received, as
The measured value of pulse signal arrival time；
The amplitude information of received pulse signal is obtained using the pulse signal amplitude detection device；
According to the arrival time measured value of the amplitude of the pulse signal received and the relationship amendment record of preset magnitude threshold,
To obtain arrival time correction value.
8. obtaining pulse using the method for pulse signal amplitude detection device amendment arrival time as claimed in claim 7
It further include the waveform for obtaining the pulse signal of pulse signal transmitter transmitting, to described before the measured value of signal arrival time
Pulse signal carries out the decaying of different amplitudes, to obtain and store multiple pulse signal waveforms with unlike signal amplitude.
9. as claimed in claim 8 further including searching using the method for pulse signal amplitude detection device amendment arrival time
Pulse signal waveform corresponding with the amplitude of the received pulse signal, and judge equal with preset magnitude threshold amplitude
Location information of the sampled point on the pulse signal waveform, according to the positional information with the positional relationship of uniform sampling point,
The arrival time measured value of record is modified.
10. utilizing the method for pulse signal amplitude detection device amendment arrival time, unified sampling as claimed in claim 9
Point is the two/amplitude point or peak point on pulse signal waveform.
11. a kind of pulse signal amplitude detection method, comprising:
Emit pulse signal；
The pulse signal is received, and carries out the decaying of differential declines amplitude to the amplitude of the pulse signal received, until declining
Pulse amplitude after subtracting is less than preset magnitude threshold；And
Attenuation amplitude and preset magnitude threshold when being less than preset magnitude threshold according to the pulse amplitude after decaying obtain
The amplitude information for the pulse signal that must be received.
12. pulse signal amplitude detection method as claimed in claim 11, wherein receive pulse using multiple receiving channels and believe
Number, each receiving channel carries out the decaying of differential declines amplitude to the amplitude of the pulse signal received.
13. pulse signal amplitude detection method as claimed in claim 11, wherein continuously emit the pulse letter of the amplitudes such as multiple
Number, the decaying of differential declines amplitude is carried out to the pulse signal of the amplitudes such as multiple received.
14. pulse signal amplitude detection method as claimed in claim 11, wherein the pulse amplitude after decaying will be kept big
In and closest default magnitude threshold the upper limit as pulse signal amplitude of attenuation amplitude and the sum of preset magnitude threshold, will
Pulse amplitude after making decaying is less than and the attenuation amplitude of the radio frequency attenuator of closest preset magnitude threshold and default
Lower limit of the sum of the magnitude threshold as pulse signal amplitude, and the pulse is obtained according to the upper and lower bound of pulse signal amplitude
The amplitude information for the pulse signal that signal receiver receives.
15. pulse signal amplitude detection method as claimed in claim 14, wherein by the upper limit of the pulse signal amplitude and
The measured value of amplitude of the average value of the lower limit of the pulse signal amplitude as the pulse signal received.
16. pulse signal amplitude detection method as claimed in claim 14, wherein in the pulse signal width after making decaying
Degree is greater than and the attenuation amplitude of closest preset magnitude threshold and is less than the pulse amplitude after decaying and closest pre-
If magnitude threshold attenuation amplitude in multiple attenuation amplitudes are set, with obtain at a distance of closer pulse signal amplitude the upper limit and
The lower limit of pulse signal amplitude.
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